%0 Journal Article %J Proceedings: ARPA Image Understanding Workshop, Monterey, California %D 1994 %T Error propagation in 3D-from-2D recognition: Scaled-orthographic and perspective projections %A Alter,T. D. %A Jacobs, David W. %X Robust recognition systems require a careful under-standing of the e ects of error in sensed features. Error in these image features results in uncertainty in the possible image location of each additional model feature. We present an accurate, analytic ap- proximation for this uncertainty when model poses are based on matching three image and model points. This result applies to objects that are fully three- dimensional, where past results considered only two- dimensional objects. Further, we introduce a lin- ear programming algorithm to compute this uncer- tainty when poses are based on any number of initial matches. %B Proceedings: ARPA Image Understanding Workshop, Monterey, California %8 1994/// %G eng